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In this paper, we propose a behavior selection scheme between a reactive motion control combined with a global path planning algorithm and combined with a trajectory tracking algorithm. We design two navigation behaviors. One is a plan-based reactive navigation behavior, the AutoMovereactive, which exploits the conventional Dynamic Window Approach (DWA) as the reactive motion controller. The other behavior is AutoMovetracking, which exploits trajectory tracking controller. Two navigation schemes are based on different navigation assumptions. As a result, the two schemes have completely different advantages and disadvantages. We selected the appropriate navigation behavior based on the Generalized Stochastic Petri Nets (GSPN) discrete control framework.